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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="title">Segment.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef SEGMENT_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define SEGMENT_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceAprilTags.html">AprilTags</a> {</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Segment.html">   10</a></span>&#160;<span class="keyword">class </span><a class="code" href="classAprilTags_1_1Segment.html">Segment</a> {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="classAprilTags_1_1Segment.html">Segment</a>();</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Segment.html#a10db46ff3cfd25f5d73e7451bd71476b">   14</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Segment.html#a10db46ff3cfd25f5d73e7451bd71476b">minimumSegmentSize</a> = 4; </div>
<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Segment.html#ad7d7d2a1e6e4d6da6fac67e812492356">   15</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">float</span> <span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Segment.html#ad7d7d2a1e6e4d6da6fac67e812492356">minimumLineLength</a>; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keywordtype">float</span> getX0()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> x0; }</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keywordtype">void</span> setX0(<span class="keywordtype">float</span> newValue) { x0 = newValue; }</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordtype">float</span> getY0()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> y0; }</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordtype">void</span> setY0(<span class="keywordtype">float</span> newValue) { y0 = newValue; }</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordtype">float</span> getX1()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> x1; }</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keywordtype">void</span> setX1(<span class="keywordtype">float</span> newValue) { x1 = newValue; }</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keywordtype">float</span> getY1()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> y1; }</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keywordtype">void</span> setY1(<span class="keywordtype">float</span> newValue) { y1 = newValue; }</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordtype">float</span> getTheta()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> theta; }</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordtype">void</span> setTheta(<span class="keywordtype">float</span> newValue) { theta = newValue; }</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordtype">float</span> getLength()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> length; }</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordtype">void</span> setLength(<span class="keywordtype">float</span> newValue) { length = newValue; }</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classAprilTags_1_1Segment.html#a310ad93816357ce47c9cff24522006ee">segmentLength</a>();</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classAprilTags_1_1Segment.html#a81a4b7cc054528fd687254f670a905a0">printSegment</a>();</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Segment.html#a2fcd8b4995a31c29f450b4cdd22c9868">   42</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classAprilTags_1_1Segment.html#a2fcd8b4995a31c29f450b4cdd22c9868">getId</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> segmentId; }</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  std::vector&lt;Segment*&gt; children;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">float</span> x0, y0, x1, y1;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">float</span> theta; <span class="comment">// gradient direction (points towards white)</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">float</span> length; <span class="comment">// length of line segment in pixels</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">int</span> segmentId;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> idCounter;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;};</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;} <span class="comment">// namsepace</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassAprilTags_1_1Segment_html"><div class="ttname"><a href="classAprilTags_1_1Segment.html">AprilTags::Segment</a></div><div class="ttdoc">Represents a line fit to a set of pixels whose gradients are similiar.</div><div class="ttdef"><b>Definition:</b> Segment.h:10</div></div>
<div class="ttc" id="aclassAprilTags_1_1Segment_html_a10db46ff3cfd25f5d73e7451bd71476b"><div class="ttname"><a href="classAprilTags_1_1Segment.html#a10db46ff3cfd25f5d73e7451bd71476b">AprilTags::Segment::minimumSegmentSize</a></div><div class="ttdeci">static int const minimumSegmentSize</div><div class="ttdoc">Minimum number of pixels in a segment before we'll fit a line to it.</div><div class="ttdef"><b>Definition:</b> Segment.h:14</div></div>
<div class="ttc" id="aclassAprilTags_1_1Segment_html_a2fcd8b4995a31c29f450b4cdd22c9868"><div class="ttname"><a href="classAprilTags_1_1Segment.html#a2fcd8b4995a31c29f450b4cdd22c9868">AprilTags::Segment::getId</a></div><div class="ttdeci">int getId() const</div><div class="ttdoc">ID of Segment.</div><div class="ttdef"><b>Definition:</b> Segment.h:42</div></div>
<div class="ttc" id="aclassAprilTags_1_1Segment_html_a310ad93816357ce47c9cff24522006ee"><div class="ttname"><a href="classAprilTags_1_1Segment.html#a310ad93816357ce47c9cff24522006ee">AprilTags::Segment::segmentLength</a></div><div class="ttdeci">float segmentLength()</div><div class="ttdoc">Returns the length of the Segment.</div><div class="ttdef"><b>Definition:</b> Segment.cc:11</div></div>
<div class="ttc" id="aclassAprilTags_1_1Segment_html_a81a4b7cc054528fd687254f670a905a0"><div class="ttname"><a href="classAprilTags_1_1Segment.html#a81a4b7cc054528fd687254f670a905a0">AprilTags::Segment::printSegment</a></div><div class="ttdeci">void printSegment()</div><div class="ttdoc">Print endpoint coordinates of this segment.</div><div class="ttdef"><b>Definition:</b> Segment.cc:15</div></div>
<div class="ttc" id="aclassAprilTags_1_1Segment_html_ad7d7d2a1e6e4d6da6fac67e812492356"><div class="ttname"><a href="classAprilTags_1_1Segment.html#ad7d7d2a1e6e4d6da6fac67e812492356">AprilTags::Segment::minimumLineLength</a></div><div class="ttdeci">static float const minimumLineLength</div><div class="ttdoc">In pixels. Calculated based on minimum plausible decoding size for Tag9 family.</div><div class="ttdef"><b>Definition:</b> Segment.h:15</div></div>
<div class="ttc" id="anamespaceAprilTags_html"><div class="ttname"><a href="namespaceAprilTags.html">AprilTags</a></div><div class="ttdef"><b>Definition:</b> Edge.h:8</div></div>
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